| At present,China’s fruit and vegetable production has jumped to the top in the world,and it also has a huge consumer market.The economic benefits of the fruit and vegetable industry have become increasingly evident.In the process of fruit and vegetable production,picking is one of the most time-consuming,labor-intensive,and critical production steps.In the past,fruit and vegetable picking operations mainly relied on manpower,which had a series of problems such as low efficiency and increased costs.The level of production costs will directly affect the economic benefits brought by the fruit and vegetable industry.Therefore,traditional manual picking methods have difficulty adapting to the development needs of the market,So the intelligent working method of using machinery to replace manual picking work will undoubtedly be the development trend of future picking operations.Therefore,this article takes the Saint Mary Fruit as the research goal and designs a low-cost,efficient,and highly intelligent Saint Mary Fruit Picking Robot Arm.The specific work is as follows:Firstly,the structure of the manipulator is introduced and the Solid Works simulation model is established.The D-H model is established and relevant parameters are obtained.The kinematics of the manipulator is calculated,analyzed and verified by simulation.In order to improve the working efficiency of the picking manipulator and reduce costs,the optimal inverse solution is selected with the goal of "low consumption and high efficiency".Secondly,in order to enable the driver to have appropriate force and torque to drive the motion of the robotic arm,the dynamics of the arm were analyzed.The Lagrange method was used to solve the dynamic equations,and the dynamic solving process was introduced using the third joint as an example.The Adams software was used for dynamic simulation analysis.Then,based on the operating conditions in accessible spaces,different trajectory planning methods for harvesting robotic arms were studied and the optimal method was selected.The cubic polynomial interpolation method,quintic polynomial interpolation method,trapezoidal curve interpolation method,and 5-segment S curve interpolation method were analyzed and compared.The results showed that using the5-segment S curve method for trajectory planning resulted in a smooth and continuous trajectory curve with no sudden changes in speed The acceleration peak value is small and the change is relatively stable,and the manipulator has a small inertia,which will not cause damage to the manipulator body.Then,the forward kinematics verifies that the trajectory planning results obtained by the five segment S curve interpolation method are effective and accurate.Finally,the experimental platform was designed and physically constructed.The mobile app was used to send position coordinate information to the robotic arm and remotely control the robotic arm to automatically complete point-to-point motion in an accessible space,improving the intelligence of the robotic arm. |
